CN112351268B - Thermal imaging camera burn detection method and device and electronic equipment - Google Patents
Thermal imaging camera burn detection method and device and electronic equipment Download PDFInfo
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Abstract
The embodiment of the invention provides a thermal imaging camera burn detection method and device and electronic equipment. The method comprises the following steps: acquiring a thermal imaging image shot by the thermal imaging camera in a state that the baffle plate is closed, and taking the thermal imaging image as a burn detection image; determining whether pixel points with gray values larger than a preset burn gray threshold exist in the burn detection image; and if the burn detection image has pixel points with gray values larger than the preset burn gray threshold value, determining the burn of the thermal imaging camera. Burn of the thermal imaging camera can be effectively detected, so that the thermal imaging camera can be controlled timely to avoid high-temperature targets, and irreversible burn is avoided.
Description
Technical Field
The invention relates to the technical field of thermal imaging, in particular to a thermal imaging camera burn detection method and device and electronic equipment.
Background
The thermal imaging camera can detect infrared energy in a non-contact mode, and converts the infrared energy into an electric signal through the sensor, so that a thermal imaging image and temperature information in a monitoring range are obtained. A thermal imaging camera is provided with a thermal imaging detector that is capable of receiving infrared energy within a monitoring range. When a high temperature object (such as an intense sun) is present within the monitoring range, a thermal imaging detector burn may be caused under the irradiation of the high temperature object.
If the burn is not severe, such as a short exposure of a high temperature object, the thermal imaging detector may recover gradually after a certain time. Thermal imaging detector burns can be irreversible if the burn is severe, such as if a high temperature object is irradiated for a long period of time. Therefore, how to effectively detect the thermal imaging detector in the thermal imaging camera to burn, avoid high-temperature objects at any time and avoid serious burn becomes a technical problem to be solved urgently.
Disclosure of Invention
The embodiment of the invention aims to provide a thermal imaging camera burn detection method, a thermal imaging camera burn detection device and electronic equipment, so that burn of a thermal imaging detector in a thermal imaging camera can be effectively detected, high-temperature objects can be avoided at any time, and serious burn can be avoided. The specific technical scheme is as follows:
in a first aspect of embodiments of the present invention, there is provided a thermal imaging camera burn detection method, the method comprising:
acquiring a thermal imaging image shot by the thermal imaging camera in a state that the baffle plate is closed, and taking the thermal imaging image as a burn detection image;
determining whether pixel points with gray values larger than a preset burn gray threshold exist in the burn detection image;
and if the burn detection image has pixel points with gray values larger than the preset burn gray threshold value, determining the burn of the thermal imaging camera.
In a first possible implementation manner, before the acquiring a thermal imaging image captured by the thermal imaging camera in a closed shutter state as a burn detection image, the method further includes:
acquiring a thermal imaging image shot by a thermal imaging camera in a state that a separation blade is opened, and taking the thermal imaging image as a high-temperature detection image;
determining whether pixel points with gray values larger than a preset high-temperature gray threshold exist in the high-temperature detection image;
and if the high-temperature detection image has pixel points with gray values larger than the preset high-temperature gray threshold value, closing the blocking sheet to obtain the thermal imaging image shot in the state of closing the blocking sheet.
In one possible implementation, after the determining the thermal imaging camera burn, the method further comprises:
respectively determining an effective monitoring range of each preset direction in a plurality of preset directions according to a high-temperature region in the burn detection image, wherein the effective monitoring range is the maximum overlapping range of the monitoring range after rotation and the monitoring range before rotation on the premise that the thermal imaging camera rotates towards the preset direction and the high-temperature region is not included in the monitoring range after rotation, and the high-temperature region is a set of pixel points with the gray values larger than the preset high-temperature gray threshold value in the high-temperature detection image;
controlling the thermal imaging camera to rotate towards a preset direction with a maximum effective monitoring range; alternatively, the thermal imaging camera is controlled to poll among the plurality of valid detection ranges.
In one possible implementation, after the determining the thermal imaging camera burn, the method further comprises:
controlling the thermal imaging camera to be kept in a closed blocking piece state, controlling the thermal imaging camera to open the blocking piece when a preset time node is reached, and executing the following steps until no pixel points with gray values larger than a preset high-temperature gray threshold value exist in a high-temperature detection image:
judging whether a high-temperature detection image shot by the thermal imaging camera in a state of opening a baffle plate has pixel points with gray values larger than a preset high-temperature gray threshold value;
if no pixel point with the gray value larger than a preset high-temperature gray threshold exists in the high-temperature detection image, controlling the thermal imaging camera to be kept in an open blocking piece state;
and if pixel points with gray values larger than a preset high-temperature gray threshold exist in the high-temperature detection image, returning to execute the step of controlling the thermal imaging camera to be kept in a closed blocking piece state until a preset time node is reached, and controlling the thermal imaging camera to open the blocking piece.
In one possible implementation, after the controlling the thermal imaging camera to remain in the open flap state, the method further includes:
after the separation blade is opened and the time delay is maintained, controlling the thermal imaging camera to close the separation blade so as to obtain a correction reference image shot by the thermal imaging camera in the state of closing the separation blade, and executing the following steps until no pixel points with gray values larger than the preset burn gray threshold exist in the correction reference image:
determining an offset correction strategy according to the gray value of each pixel point in the correction reference image, wherein the offset correction strategy is used for indicating the correction degree of each pixel point when the thermal imaging camera performs offset correction on the shot thermal imaging image;
determining a new delay time according to the response rate recovery characteristic of the thermal imaging camera;
after the correction reference image is acquired, controlling the thermal imaging camera to open a blocking sheet;
before the blocking piece state is opened and the new delay time duration is maintained, offset correction is carried out on the thermal imaging image shot by the thermal imaging camera according to the offset correction strategy;
and after the state of opening the blocking piece is maintained for the new delay time, returning to execute the step of controlling the thermal imaging camera to close the blocking piece so as to obtain a corrected reference image shot by the thermal imaging camera in the state of closing the blocking piece.
In a possible implementation manner, the determining an offset correction policy according to the gray-level value of each pixel point in the corrected reference image includes:
determining the gray value of a pixel point of a burn area in the correction reference image and the difference value of the gray values of pixel points of non-burn areas in the correction reference image, wherein the burn area is a set of pixel points of which the gray values are greater than the burn gray threshold value in the correction reference image;
and determining an offset correction strategy according to the difference value and a preset offset correction rule, wherein the offset correction rule is used for expressing the corresponding relation between the difference value and the offset correction strategy.
In a second aspect of embodiments of the present invention, there is provided a thermal imaging camera burn detection apparatus, the apparatus comprising:
the image acquisition module is used for acquiring a thermal imaging image shot by the thermal imaging camera in a state that the baffle plate is closed, and the thermal imaging image is used as a burn detection image;
a burn threshold determination module, configured to determine whether a pixel point with a gray value greater than a preset burn gray threshold exists in the burn detection image;
and the burn result determining module is used for determining the burn of the thermal imaging camera if the burn detection image has pixel points with gray values larger than the preset burn gray threshold value.
In a possible implementation manner, the image obtaining module is further configured to obtain a thermal imaging image, which is captured by the thermal imaging camera in a state where the blocking plate is opened, as a high-temperature detection image before obtaining the thermal imaging image, which is captured by the thermal imaging camera in a state where the blocking plate is closed, as a burn detection image;
the device also comprises a high-temperature threshold determining module, a judging module and a judging module, wherein the high-temperature threshold determining module is used for determining whether pixel points with gray values larger than a preset high-temperature gray threshold exist in the high-temperature detection image;
the image obtaining module is specifically configured to close the blocking sheet to obtain a thermal imaging image captured in a state of closing the blocking sheet if a pixel point with a gray value larger than the preset high-temperature gray threshold exists in the high-temperature detection image.
In a possible implementation manner, the apparatus further includes a burn avoidance module, configured to determine, after the thermal imaging camera is determined to be burned, an effective monitoring range in each of a plurality of preset directions according to a high temperature region in the burn detection image, where the effective monitoring range is a maximum overlapping range between a monitoring range after the rotation and a monitoring range before the rotation on the premise that the thermal imaging camera rotates in the preset direction and the monitoring range after the rotation does not include the high temperature region, and the high temperature region is a set of pixels in the high temperature detection image whose gray values are greater than the preset high temperature gray threshold;
controlling the thermal imaging camera to rotate towards a preset direction with a maximum effective monitoring range; alternatively, the thermal imaging camera is controlled to poll among the plurality of valid detection ranges.
In a possible implementation manner, the apparatus further includes a high temperature detection module, configured to control the thermal imaging camera to remain in a closed barrier state, control the thermal imaging camera to open a barrier when a preset time node is reached, and execute the following steps until there are no pixels with a gray value greater than a preset high temperature gray threshold in a high temperature detection image:
judging whether a high-temperature detection image shot by the thermal imaging camera in a state of opening a baffle plate has pixel points with gray values larger than a preset high-temperature gray threshold value;
if no pixel point with the gray value larger than a preset high-temperature gray threshold exists in the high-temperature detection image, controlling the thermal imaging camera to be kept in an open blocking piece state;
and if pixel points with gray values larger than a preset high-temperature gray threshold exist in the high-temperature detection image, returning to execute the step of controlling the thermal imaging camera to be kept in a closed blocking piece state until a preset time node is reached, and controlling the thermal imaging camera to open the blocking piece.
In a possible implementation manner, the apparatus further includes an afterimage elimination module, configured to control the thermal imaging camera to close the barrier after the thermal imaging camera is controlled to remain in the open barrier state and the open barrier state is maintained for a delay time, so as to obtain a corrected reference image captured by the thermal imaging camera in the closed barrier state, and perform the following steps until there are no pixels with gray values greater than the preset burn gray threshold in the corrected reference image:
determining an offset correction strategy according to the gray value of each pixel point in the correction reference image, wherein the offset correction strategy is used for indicating the correction degree of each pixel point when the thermal imaging camera performs offset correction on the shot thermal imaging image;
determining a new delay time according to the response rate recovery characteristic of the thermal imaging camera;
after the correction reference image is acquired, controlling the thermal imaging camera to open a blocking sheet;
before the barrier opening state is maintained for the new delay time, carrying out offset correction on the thermal imaging image shot by the thermal imaging camera according to the offset correction strategy;
and after the state of opening the blocking piece is maintained for the new delay time, returning to execute the step of controlling the thermal imaging camera to close the blocking piece so as to obtain a corrected reference image shot by the thermal imaging camera in the state of closing the blocking piece.
In a possible implementation manner, the afterimage elimination module is specifically configured to determine a difference between a gray value of a pixel in a burn area in the corrected reference image and a gray value of a pixel in a non-burn area in the corrected reference image, where the burn area is a set of pixels in the corrected reference image whose gray values are greater than the burn gray threshold;
and determining an offset correction strategy according to the difference value and a preset offset correction rule, wherein the offset correction rule is used for expressing the corresponding relation between the difference value and the offset correction strategy.
In a third aspect of embodiments of the present invention, there is provided an electronic device, including:
a memory for storing a computer program;
a processor adapted to perform the method steps of any of the above first aspects when executing a program stored in the memory.
In a fourth aspect of embodiments of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, which, when being executed by a processor, carries out the method steps of any one of the above-mentioned first aspects.
The thermal imaging camera burn detection method, the thermal imaging camera burn detection device and the electronic equipment provided by the embodiment of the invention can effectively detect that the thermal imaging camera burns, so that the thermal imaging camera can avoid a high-temperature target in time control, and irreversible burn is avoided. Of course, it is not necessary for any product or method to achieve all of the above-described advantages at the same time for practicing the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic flow chart of a thermal imaging camera burn detection method according to an embodiment of the present invention;
FIG. 2 is another schematic flow chart of a thermal imaging camera burn detection method according to an embodiment of the present invention;
FIG. 3a is a schematic diagram of a thermal imaging image captured by a thermal imaging camera according to an embodiment of the present invention;
FIG. 3b is a schematic diagram illustrating a principle of rotation direction determination for avoiding burn injuries according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating a method for removing residual shadows according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a thermal imaging camera burn detection apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of a thermal imaging camera burn detection method provided in an embodiment of the present invention, which may be applied to a thermal imaging camera, or may be applied to other electronic devices that establish a connection with the thermal imaging camera, and this embodiment is not limited to this, and the method may include:
s101, acquiring a thermal imaging image shot by the thermal imaging camera in a state that the baffle is closed, and taking the thermal imaging image as a burn detection image.
The blocking piece is a uniform surface of a physical shielding sensor in the thermal imaging camera and can be used for blocking imaging information from the lens. It can be understood that when the thermal imaging camera is in the closed blocking piece state, it can be regarded that the thermal imaging detector in the thermal imaging camera does not receive external infrared energy, and only receives heat radiated by the detector, and although there may be a difference in response rate of detector pixels, the difference in response rate of normal pixels is within a certain range, that is, a uniform plane of gray scales of all pixels of the blocking piece.
S102, determining whether pixel points with gray values larger than a preset burn gray threshold exist in the burn detection image.
Due to the material and the manufacturing process of the thermal imaging detector, the response rate of each pixel in the thermal imaging detector may be different, so that the gray value of each pixel in the burn detection image obtained actually may be different. However, it is considered that the difference in the response rate due to unavoidable factors such as materials and manufacturing processes should be within a certain range, that is, the gray value of each pixel point in the burn detection image should be within a certain range.
Therefore, if a pixel point with a gray value larger than a preset burn gray threshold exists in the burn detection image, it can be considered that a pixel with an abnormal response rate exists in the thermal imaging detector, that is, the thermal imaging detector is burnt.
S103, if the burn detection image has pixel points with the gray values larger than the preset burn gray threshold value, determining the high-temperature burn of the thermal imaging camera.
By adopting the embodiment, the thermal imaging camera can be effectively detected to burn, so that the thermal imaging camera can be controlled timely to avoid high-temperature targets and avoid irreversible burning.
In some possible application scenarios, burn detection may be performed periodically or aperiodically, or burn detection may be performed after receiving an instruction from a user, which is not limited in this embodiment. In a possible embodiment, burn detection may also be performed upon detection of the presence of a high temperature object within the monitoring range, it being understood that high temperature object illumination is a necessary condition for causing a burn to the thermal imaging camera, and thus if no high temperature object is present within the monitoring range, burn detection may be deemed unnecessary.
Referring to fig. 2, fig. 2 is a schematic flow chart of a thermal imaging camera burn detection method according to an embodiment of the present invention, including:
s201, acquiring a thermal imaging image shot by the thermal imaging camera in a state that the baffle is opened as a high-temperature detection image.
The step may be executed periodically or aperiodically, or may be executed after receiving a user instruction, which is not limited in this embodiment.
S202, determining whether pixel points with gray values larger than a preset high-temperature gray threshold exist in the high-temperature detection image, if the pixel points with the gray values larger than the preset high-temperature gray threshold exist in the high-temperature detection image, executing S203, and if the pixel points with the gray values larger than the preset high-temperature gray threshold do not exist in the high-temperature detection image, returning to execute S201.
It can be understood that the intensity of the infrared energy radiated by an object is positively correlated to the temperature of the object, and therefore if a high-temperature object exists in the monitoring range, the infrared energy radiated by the high-temperature object may cause a higher gray value of a part of pixel points in the high-temperature detection image. On the contrary, if no high-temperature object exists in the monitoring range, the gray value of the pixel point in the high-temperature detection image should be within a certain range.
Therefore, if the high-temperature detection image has a pixel point with a gray value larger than a preset high-temperature gray threshold value, it can be considered that a high-temperature object exists in the monitoring range.
And S203, controlling the thermal imaging camera to close the barrier.
And S204, acquiring a thermal imaging image shot by the thermal imaging camera in a state that the baffle is closed, and taking the thermal imaging image as a burn detection image.
The step is the same as S101, and reference may be made to the foregoing description about S101, which is not repeated herein.
S205, determining whether pixel points with gray values larger than a preset burn gray threshold exist in the burn detection image, executing S206 if the pixel points with the gray values larger than the preset burn gray threshold exist in the burn detection image, and returning to executing S201 if the pixel points with the gray values larger than the preset burn gray threshold do not exist in the burn detection image.
S206, determining thermal imaging camera burn.
By adopting the embodiment, whether the burn is required to be further detected can be determined by judging whether the high-temperature object exists in the monitoring range in advance, so that the resource is wasted to determine whether the burn is caused under the condition that the high-temperature object does not exist in the monitoring range.
On the other hand, in the related art, whether a high-temperature object exists in the monitoring range can be determined by judging whether a strong sun exists in a thermal imaging image captured by the thermal imaging camera in a state that the barrier is opened. However, the shape of the sun in the thermal imaging image may be greatly different from the actual shape of the sun due to being blocked or due to camera imaging parameters, which may cause misjudgment. And this embodiment can effectively solve the technical problem.
After the thermal imaging camera is determined to burn, the thermal imaging camera can be controlled to burn and avoid according to a preset burn and avoid strategy. According to different application scenes, the preset burn avoidance strategies can be different, and for example, for a thermal imaging camera with a PTZ (Pan/Tilt/Zoom) function, the cradle head can be controlled to drive the thermal imaging camera to rotate, so that no high-temperature object exists in the rotating monitoring range.
However, in some application scenarios, it may be considered that the monitoring range before the thermal imaging camera rotates is a monitoring scene that the user needs to monitor, and if the thermal imaging camera rotates, in the monitoring range after the rotation, only the overlapping range with the monitoring range before the rotation may be interested by the user, and the monitoring range that does not overlap with the monitoring range before the rotation may not be interested by the user. In view of this, in a possible embodiment, an effective monitoring range in each of the multiple preset directions may be determined according to a high temperature region in the burn detection image, where the effective monitoring range is a maximum overlapping range between the rotated monitoring range and the monitoring range before the rotation on the premise that the thermal imaging camera rotates in the preset direction and the rotated monitoring range does not include the high temperature region, and the high temperature region is a set of pixel points in the high temperature detection image whose gray values are greater than a preset high temperature gray threshold value.
For example, see fig. 3a, wherein the oval-shaped area of the black filling color is a high temperature area, and the preset direction is assumed to include left, right, and bottom. Then as shown in fig. 3b, region 301 is the effective monitoring range for left rotation, region 302 is the effective monitoring range for right rotation, and region 303 is the effective monitoring range for down rotation. If region 303 > region 301 > region 302, the thermal imaging camera can be controlled to rotate to the left. By adopting the embodiment, the original monitoring range can be monitored to the maximum extent on the premise of avoiding a high-temperature area. In other possible embodiments, the areas 303, 302, and 301 may be polled according to the original monitoring specification to ensure maximum monitoring. In polling, the time of staying in each area may be the same or different, and the time may be preset or determined according to a preset rule, which is not limited in this embodiment.
For thermal imaging cameras that do not have PTZ functionality, burn avoidance may be performed by maintaining a closed flap state. For a thermal imaging camera with PTZ functionality, burn avoidance may also be performed by maintaining the closed flap state. For example, in a possible embodiment, the thermal imaging camera may be controlled to keep a closed shutter state, and when a preset time node is reached, the thermal imaging camera is controlled to open a shutter, and the following steps are performed until there are no pixel points with a gray value greater than a preset high-temperature gray threshold in the high-temperature detection image, where the preset time node may be periodically distributed in a time domain or non-periodically distributed, and this embodiment does not limit this:
and judging whether pixel points with gray values larger than a preset high-temperature gray threshold exist in the high-temperature detection image or not, and controlling the thermal imaging camera to be kept in an open blocking piece state if the pixel points with the gray values larger than the preset high-temperature gray threshold do not exist in the high-temperature detection image. And if pixel points with gray values larger than the preset high-temperature gray threshold exist in the high-temperature detection image, controlling the thermal imaging camera to close the blocking piece again, returning to the state of keeping the blocking piece closed, and controlling the thermal imaging camera to open the blocking piece when the preset time node is reached.
As described above, if there is no pixel point with a gray value greater than the preset high-temperature gray threshold in the high-temperature detection image, it can be considered that there is no high-temperature object in the monitoring range at this time, and thus the burn can no longer be avoided by keeping the closed barrier state. And if pixel points with gray values larger than a preset high-temperature gray threshold exist in the high-temperature detection image, the high-temperature object still exists in the monitoring range at the moment, and therefore burn needs to be avoided by keeping the closing baffle state continuously.
For reversible burn, a certain time is needed for the response rate of the image element to be completely recovered to the response rate when no burn occurs, and if the thermal imaging image is shot in the period, residual shadow caused by burn may exist in the shot thermal imaging image, so that the image quality is affected. In view of this, the embodiment of the present invention provides a correction method, which can be applied after a thermal imaging camera avoids a burn according to a preset burn avoiding policy (for example, after the thermal imaging camera is separated from a state where a barrier is closed to avoid the burn, that is, after the thermal imaging camera is in an open barrier state), and can be seen in fig. 4, including:
and S401, after the blocking piece opening state is maintained for a delay time, controlling the thermal imaging camera to close the blocking piece so as to obtain a correction reference image shot by the thermal imaging camera in the blocking piece closing state.
The initial value of the delay time period may be set in advance.
S402, judging whether pixel points with the gray values larger than a preset burnt gray threshold exist in the corrected reference image, executing S403 if the pixel points with the gray values larger than the preset burnt gray threshold exist in the corrected reference image, and finishing correction if the pixel points with the gray values larger than the preset burnt gray threshold do not exist in the corrected reference image.
As described above with respect to the analysis of the burn detection image, since the difference between the picture elements due to the material and the process is within a certain range, the gray value of each pixel point in the reference image is theoretically corrected to be within a certain range without considering the difference due to burn.
Therefore, if a pixel point with a gray value larger than a preset burn gray threshold exists in the corrected reference image, the thermal imaging camera can be considered to be still burnt, and therefore an afterimage caused by the burning may exist in the shot thermal imaging image.
If the correction reference image does not have pixel points with the gray values larger than the preset burn gray threshold, the thermal imaging camera can be considered to be recovered from the burn, so that the residual shadow caused by the burn does not exist in the shot thermal imaging image, and the thermal imaging image does not need to be corrected according to the residual shadow caused by the burn.
And S403, determining an offset correction strategy according to the gray value of each pixel point in the corrected reference image.
The offset correction strategy is used for expressing the correction degree of each pixel point when the thermal imaging camera carries out offset correction on the shot thermal imaging image. It is understood that each pixel in the thermal imaging detector can be regarded as implementing the conversion of infrared energy into an electrical signal, assuming that the conversion relationship of the conversion is a linear relationship y ═ f (x), where x is the detected infrared energy, y is the electrical signal output by the pixel, and f () is the responsivity of the pixel. For convenience of description, assuming that the response of a pixel is linear, y is kx + b, where k is the gain of the pixel and b is the offset of the pixel.
When the thermal imaging camera is in the closed shutter state, x can be considered approximately 0, so the output of a picture element is b, i.e. the offset of the picture element. Because a part of pixels in the thermal imaging detector are burnt (the technical problem to be solved by the embodiment does not exist in the application scene of the pixels without the burnt phenomenon, which is not discussed here), the offset of the part of pixels may be abnormal, and further the gray value of the corresponding pixel point is abnormal, so that the gray value of the pixel point in the corrected reference image can reflect the abnormal offset of the pixel.
In a possible embodiment, the difference between the gray value of the pixel point in the burn area in the corrected reference image and the gray value of the pixel point in the non-burn area in the corrected reference image may be determined, and the difference may be an average gray value of the pixel points in the burn area in the corrected reference image and an average gray value of the pixel points in the non-burn area in the corrected reference image, or a median of the gray values of the pixel points in the burn area in the corrected reference image and a median of the gray values of the pixel points in the non-burn area in the corrected reference image.
And determining an offset correction strategy according to the difference and a preset offset correction rule, wherein the offset correction rule is used for expressing the corresponding relation between the difference and the offset correction strategy.
And S404, determining a new delay time according to the response rate gray scale characteristic of the thermal imaging camera.
Assuming that the offset of a normal pixel is b1 and the offset of a burned pixel is b2, theoretically, the offset compensation (b1-b2) of the burned pixel can make the response rate of the burned pixel the same as or similar to that of the normal pixel, and further eliminate the afterimage. But the offset of a burned pixel recovers over time, assuming a recovery amount g (t), where t is a time period, if after correcting the offset of a burned pixel to coincide with the offset of a normal pixel, the offset of the burned pixel changes to b2+ g (t) after the time period t, and if the offset of the burned pixel is still compensated for at this time (b1-b2), the offset of the compensated pixel differs from the offset of a normal pixel by g (t). If g (t) is within an acceptable range, the thermal imaging image may not have the afterimage which obviously affects the picture quality, but if g (t) is beyond the acceptable range, the thermal imaging image may have the afterimage which obviously affects the picture quality, and the offset correction strategy needs to be planned again.
And g () depends on the response rate recovery characteristics of the thermal imaging camera, so that a new delay time period can be determined according to the response rate recovery characteristics of the thermal imaging camera, so that g (t) is within an acceptable range within the new delay time period. The acceptable range may be set according to the actual experience or requirement of the user, for example, if the user has a high requirement on the image quality, the range may be relatively small, and if the user has a low requirement on the image quality, the range may be relatively large, which is not limited by the embodiment.
And S405, after the correction reference image is acquired, controlling the thermal imaging camera to open a blocking sheet.
It should be understood that fig. 4 is a flowchart of the afterimage elimination method provided in the embodiment of the present invention, and in other possible embodiments, S405 may also be executed before S404 or S403, or may also be executed alternately or in parallel with S404 or S403, which is not limited in this embodiment.
And S406, before the barrier opening state is maintained for a new delay time, carrying out offset correction on the thermal imaging image shot by the thermal imaging camera according to an offset correction strategy.
As described in S404, before the barrier state is maintained for the new delay time, it can be considered that the captured thermal imaging image is corrected according to the offset correction policy determined in S403, and the afterimage in the captured thermal imaging image can be effectively eliminated.
S407, after the open block sheet maintains the new delay time, the process returns to S401.
As described in relation to S404, since the response rate of the pixels in the thermal imaging camera recovers with time after the shutter-on state is maintained for the new delay time period, it can be considered that if the captured thermal imaging image is still corrected according to the offset correction policy determined in S403, it is difficult to effectively eliminate the afterimage in the captured thermal imaging image, and at this time, the offset correction policy needs to be re-determined.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a thermal imaging camera burn detection apparatus according to an embodiment of the present invention, which may include:
an image obtaining module 501, configured to obtain a thermal imaging image captured by the thermal imaging camera in a state where the blocking piece is closed, as a burn detection image;
a burn threshold determination module 502, configured to determine whether there is a pixel point in the burn detection image whose gray value is greater than a preset burn gray threshold;
and a burn result determining module 503, configured to determine that the thermal imaging camera burns if a pixel point with a gray value greater than a preset burn gray threshold exists in the burn detection image.
In a possible implementation manner, the image obtaining module 501 is further configured to obtain a thermal imaging image captured by the thermal imaging camera in a state where the shutter is opened as a high-temperature detection image before obtaining the thermal imaging image captured by the thermal imaging camera in a state where the shutter is closed as the burn detection image;
the device also comprises a high-temperature threshold determining module, a judging module and a judging module, wherein the high-temperature threshold determining module is used for determining whether pixel points with gray values larger than a preset high-temperature gray threshold exist in the high-temperature detection image;
and the image acquisition module is specifically used for closing the blocking sheet to acquire the thermal imaging image shot in the state of closing the blocking sheet if the high-temperature detection image has pixel points with gray values larger than a preset high-temperature gray threshold value.
In a possible implementation manner, the device further comprises a burn avoidance module, configured to determine, after the thermal imaging camera is determined to be burned, an effective monitoring range in each of the multiple preset directions according to a high-temperature region in a burn detection image, where the effective monitoring range is a set of pixels in the high-temperature detection image whose gray values are greater than a preset high-temperature gray threshold, and the overlapping range of the rotated monitoring range and the monitoring range before rotation is the largest on the premise that the thermal imaging camera rotates in the preset direction and the rotated monitoring range does not include the high-temperature region;
controlling the thermal imaging camera to rotate towards a preset direction with the maximum effective monitoring range; alternatively, the thermal imaging camera is controlled to poll among a plurality of valid detection ranges.
In a possible implementation manner, the device further includes a high-temperature detection module, configured to control the thermal imaging camera to remain in a closed barrier state, and when a preset time node is reached, control the thermal imaging camera to open the barrier, and execute the following steps until there are no pixels with gray values greater than a preset high-temperature gray threshold in the high-temperature detection image:
judging whether a high-temperature detection image shot by the thermal imaging camera in the state of opening the blocking piece has pixel points with gray values larger than a preset high-temperature gray threshold value;
if no pixel point with the gray value larger than the preset high-temperature gray threshold exists in the high-temperature detection image, controlling the thermal imaging camera to be kept in the state of opening the blocking piece;
and if the high-temperature detection image has pixel points with gray values larger than the preset high-temperature gray threshold value, returning to execute the step of controlling the thermal imaging camera to be kept in the state of closing the blocking piece until the preset time node is reached, and controlling the thermal imaging camera to open the blocking piece.
In a possible implementation manner, the apparatus further includes an afterimage elimination module, configured to control the thermal imaging camera to close the blocking piece after the thermal imaging camera is controlled to remain in the state of the open blocking piece and after the state of the open blocking piece is maintained for a delay time, so as to obtain a corrected reference image that is captured by the thermal imaging camera in the state of the closed blocking piece, and execute the following steps until there are no pixels with gray values greater than a preset burn gray threshold in the corrected reference image:
determining an offset correction strategy according to the gray value of each pixel point in the corrected reference image, wherein the offset correction strategy is used for indicating the correction degree of each pixel point when the thermal imaging camera performs offset correction on the shot thermal imaging image;
determining a new delay time according to the response rate recovery characteristic of the thermal imaging camera;
after the correction reference image is obtained, controlling the thermal imaging camera to open a blocking piece;
before the state of opening the blocking piece is maintained for a new delay time, carrying out offset correction on a thermal imaging image shot by a thermal imaging camera according to an offset correction strategy;
and after the state of the opening baffle plate is maintained for a new delay time, returning to execute the step of controlling the thermal imaging camera to close the baffle plate so as to obtain a corrected reference image shot by the thermal imaging camera in the state of closing the baffle plate.
In a possible implementation manner, the afterimage elimination module is specifically configured to determine a difference between a gray value of a pixel in a burn area in the corrected reference image and a gray value of a pixel in a non-burn area in the corrected reference image, where the burn area is a set of pixels in the corrected reference image whose gray values are greater than a burn gray threshold;
and determining an offset correction strategy according to the difference value and a preset offset correction rule, wherein the offset correction rule is used for expressing the corresponding relation between the difference value and the offset correction strategy.
An embodiment of the present invention further provides an electronic device, as shown in fig. 6, including:
a memory 601 for storing a computer program;
the processor 602 is configured to implement the following steps when executing the program stored in the memory 601:
acquiring a thermal imaging image shot by a thermal imaging camera in a state that a baffle is closed, and taking the thermal imaging image as a burn detection image;
determining whether pixel points with gray values larger than a preset burn gray threshold exist in the burn detection image;
and if the burn detection image has pixel points with gray values larger than the preset burn gray threshold value, determining the burn of the thermal imaging camera.
In one possible implementation, after determining thermal imaging camera burn, the method further comprises:
respectively determining an effective monitoring range of each preset direction in the multiple preset directions according to a high-temperature region in the burn detection image, wherein the effective monitoring range is the maximum overlapping range of the monitoring range after rotation and the monitoring range before rotation on the premise that the thermal imaging camera rotates towards the preset direction and does not include the high-temperature region in the monitoring range after rotation, and the high-temperature region is a set of pixel points with the gray values larger than a preset high-temperature gray threshold value in the high-temperature detection image;
controlling the thermal imaging camera to rotate towards a preset direction with the maximum effective monitoring range; alternatively, the thermal imaging camera is controlled to poll among a plurality of valid detection ranges.
In one possible implementation, before acquiring, as the burn detection image, a thermal imaging image captured by the thermal imaging camera in a closed shutter state, the method further includes:
acquiring a thermal imaging image shot by a thermal imaging camera in a state that a separation blade is opened, and taking the thermal imaging image as a high-temperature detection image;
determining whether pixel points with gray values larger than a preset high-temperature gray threshold exist in the high-temperature detection image;
and if the high-temperature detection image has pixel points with gray values larger than the preset high-temperature gray threshold value, closing the blocking sheet to obtain the thermal imaging image shot in the state of closing the blocking sheet.
In one possible implementation, after determining thermal imaging camera burn, the method further comprises:
respectively determining an effective monitoring range of each preset direction in the multiple preset directions according to a high-temperature region in the burn detection image, wherein the effective monitoring range is the maximum overlapping range of the monitoring range after rotation and the monitoring range before rotation on the premise that the thermal imaging camera rotates towards the preset direction and does not include the high-temperature region in the monitoring range after rotation, and the high-temperature region is a set of pixel points with the gray values larger than a preset high-temperature gray threshold value in the high-temperature detection image;
controlling the thermal imaging camera to rotate towards a preset direction with the maximum effective monitoring range; alternatively, the thermal imaging camera is controlled to poll among a plurality of valid detection ranges.
In one possible implementation, after determining thermal imaging camera burns, the method further comprises:
controlling the thermal imaging camera to be kept in a closed blocking piece state, controlling the thermal imaging camera to open the blocking piece when a preset time node is reached, and executing the following steps until no pixel points with gray values larger than a preset high-temperature gray threshold value exist in the high-temperature detection image:
judging whether a high-temperature detection image shot by the thermal imaging camera in the state of opening the blocking piece has pixel points with gray values larger than a preset high-temperature gray threshold value;
if no pixel point with the gray value larger than the preset high-temperature gray threshold exists in the high-temperature detection image, controlling the thermal imaging camera to be kept in the state of opening the blocking piece;
and if the high-temperature detection image has pixel points with gray values larger than the preset high-temperature gray threshold value, returning to execute the step of controlling the thermal imaging camera to be kept in the state of closing the blocking piece until the preset time node is reached, and controlling the thermal imaging camera to open the blocking piece.
In a possible implementation manner, determining an offset correction policy according to a gray value of each pixel point in a corrected reference image includes:
determining the difference value between the gray value of the pixel points in the burn area in the correction reference image and the gray value of the pixel points in the non-burn area in the correction reference image, wherein the burn area is a set of the pixel points of which the gray values are greater than a burn gray threshold value in the correction reference image;
and determining an offset correction strategy according to the difference value and a preset offset correction rule, wherein the offset correction rule is used for expressing the corresponding relation between the difference value and the offset correction strategy.
The Memory mentioned in the above electronic device may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Alternatively, the memory may be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
In yet another embodiment provided by the present invention, there is also provided a computer readable storage medium having stored therein instructions which, when run on a computer, cause the computer to perform any of the thermal imaging camera burn detection methods of the above embodiments.
In yet another embodiment provided by the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform any of the thermal imaging camera burn detection methods of the above embodiments.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the embodiments of the apparatus, the electronic device, the computer-readable storage medium, and the computer program product, since they are substantially similar to the method embodiments, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiments.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (14)
1. A thermal imaging camera burn detection method, the method comprising:
acquiring a thermal imaging image shot by the thermal imaging camera in a state that a baffle is closed as a burn detection image, wherein the baffle is used for blocking infrared energy from the outside of the thermal imaging camera;
determining whether pixel points with gray values larger than a preset burn gray threshold exist in the burn detection image;
and if the burn detection image has pixel points with gray values larger than the preset burn gray threshold value, determining the burn of the thermal imaging camera.
2. The method of claim 1, wherein prior to said acquiring a thermal imaging image taken by said thermal imaging camera in a closed shutter state as a burn detection image, said method further comprises:
acquiring a thermal imaging image shot by a thermal imaging camera in a state that a separation blade is opened, and taking the thermal imaging image as a high-temperature detection image;
determining whether a pixel point with a gray value larger than a preset high-temperature gray threshold exists in the high-temperature detection image;
and if the high-temperature detection image has pixel points with gray values larger than the preset high-temperature gray threshold value, closing the blocking sheet to obtain the thermal imaging image shot in the state of closing the blocking sheet.
3. The method of claim 2, wherein after said determining said thermal imaging camera burn, said method further comprises:
respectively determining an effective monitoring range of each preset direction in a plurality of preset directions according to a high-temperature region in the burn detection image, wherein the effective monitoring range is the maximum overlapping range of the monitoring range after rotation and the monitoring range before rotation on the premise that the thermal imaging camera rotates towards the preset direction and the high-temperature region is not included in the monitoring range after rotation, and the high-temperature region is a set of pixel points with the gray value larger than the preset high-temperature gray threshold value in the high-temperature detection image;
controlling the thermal imaging camera to rotate towards a preset direction with a maximum effective monitoring range; alternatively, the thermal imaging camera is controlled to poll between the plurality of active monitoring ranges.
4. The method of claim 1, wherein after said determining said thermal imaging camera burn, said method further comprises:
controlling the thermal imaging camera to be kept in a closed blocking piece state, controlling the thermal imaging camera to open the blocking piece when a preset time node is reached, and executing the following steps until no pixel points with gray values larger than a preset high-temperature gray threshold value exist in a high-temperature detection image:
judging whether a high-temperature detection image shot by the thermal imaging camera in a state of opening a baffle plate has pixel points with gray values larger than a preset high-temperature gray threshold value;
if the high-temperature detection image does not have a pixel point with a gray value larger than a preset high-temperature gray threshold value, controlling the thermal imaging camera to be kept in an opening blocking piece state;
and if the high-temperature detection image has pixel points with gray values larger than a preset high-temperature gray threshold value, returning to execute the step of controlling the thermal imaging camera to be kept in a closed baffle plate state, and controlling the thermal imaging camera to open the baffle plate when a preset time node is reached.
5. The method of claim 4, wherein after said controlling the thermal imaging camera to remain in an open flap state, the method further comprises:
after the separation blade is opened and the time delay is maintained, controlling the thermal imaging camera to close the separation blade so as to obtain a correction reference image shot by the thermal imaging camera in the state of closing the separation blade, and executing the following steps until no pixel points with gray values larger than the preset burn gray threshold exist in the correction reference image:
determining an offset correction strategy according to the gray value of each pixel point in the correction reference image, wherein the offset correction strategy is used for indicating the correction degree of each pixel point when the thermal imaging camera performs offset correction on the shot thermal imaging image;
determining a new delay time according to the response rate recovery characteristic of the thermal imaging camera;
after the correction reference image is obtained, controlling the thermal imaging camera to open a blocking piece;
before the barrier opening state is maintained for the new delay time, carrying out offset correction on the thermal imaging image shot by the thermal imaging camera according to the offset correction strategy;
and after the state of opening the blocking piece is maintained for the new delay time, returning to execute the step of controlling the thermal imaging camera to close the blocking piece so as to obtain a corrected reference image shot by the thermal imaging camera in the state of closing the blocking piece.
6. The method according to claim 5, wherein determining an offset correction policy according to the gray-level values of the pixels in the corrected reference image comprises:
determining the gray value of a pixel point of a burn area in the correction reference image and the difference value of the gray value of a pixel point of a non-burn area in the correction reference image, wherein the burn area is a set of the pixel points of which the gray values are greater than the burn gray threshold value in the correction reference image;
and determining an offset correction strategy according to the difference value and a preset offset correction rule, wherein the offset correction rule is used for representing the corresponding relation between the difference value and the offset correction strategy.
7. A thermal imaging camera burn detection apparatus, the apparatus comprising:
the image acquisition module is used for acquiring a thermal imaging image shot by the thermal imaging camera in a state that a baffle is closed to serve as a burn detection image, wherein the baffle is used for blocking infrared energy from the outside of the thermal imaging camera;
a burn threshold determination module, configured to determine whether a pixel point with a gray value greater than a preset burn gray threshold exists in the burn detection image;
and the burn result determining module is used for determining the burn of the thermal imaging camera if the burn detection image has pixel points with gray values larger than the preset burn gray threshold value.
8. The apparatus according to claim 7, wherein the image acquiring module is further configured to acquire the thermal imaging image captured by the thermal imaging camera in the open shutter state as the high temperature detection image before the thermal imaging image captured by the thermal imaging camera in the closed shutter state is acquired as the burn detection image;
the device also comprises a high-temperature threshold determining module, a judging module and a judging module, wherein the high-temperature threshold determining module is used for determining whether pixel points with gray values larger than a preset high-temperature gray threshold exist in the high-temperature detection image;
the image obtaining module is specifically configured to close the blocking sheet to obtain a thermal imaging image captured in a state of closing the blocking sheet if a pixel point with a gray value larger than the preset high-temperature gray threshold exists in the high-temperature detection image.
9. The apparatus according to claim 8, further comprising a burn avoidance module, configured to, after the thermal imaging camera is determined to burn, determine an effective monitoring range in each of a plurality of preset directions according to a high temperature region in the burn detection image, where the effective monitoring range is a maximum overlapping range between the rotated monitoring range and the monitoring range before rotation on the premise that the thermal imaging camera is rotated in the preset direction and the rotated monitoring range does not include the high temperature region, and the high temperature region is a set of pixels in the high temperature detection image having a gray value greater than the preset high temperature gray threshold;
controlling the thermal imaging camera to rotate towards a preset direction with a maximum effective monitoring range; alternatively, the thermal imaging camera is controlled to poll between the plurality of active monitoring ranges.
10. The apparatus according to claim 7, further comprising a high temperature detection module, configured to control the thermal imaging camera to remain in a closed shutter state, control the thermal imaging camera to open a shutter when a preset time node is reached, and perform the following steps until there are no pixels with gray values greater than a preset high temperature gray threshold in the high temperature detection image:
judging whether a high-temperature detection image shot by the thermal imaging camera in a state of opening a baffle plate has pixel points with gray values larger than a preset high-temperature gray threshold value;
if no pixel point with the gray value larger than a preset high-temperature gray threshold exists in the high-temperature detection image, controlling the thermal imaging camera to be kept in an open blocking piece state;
and if pixel points with gray values larger than a preset high-temperature gray threshold exist in the high-temperature detection image, returning to execute the step of controlling the thermal imaging camera to be kept in a closed blocking piece state until a preset time node is reached, and controlling the thermal imaging camera to open the blocking piece.
11. The apparatus according to claim 10, further comprising an afterimage elimination module, configured to, after the thermal imaging camera is controlled to remain in the open barrier state and the open barrier state is maintained for a delay time, control the thermal imaging camera to close the barrier to obtain a corrected reference image captured by the thermal imaging camera in the closed barrier state, and perform the following steps until there are no pixels with gray values greater than the preset burn gray threshold in the corrected reference image:
determining an offset correction strategy according to the gray value of each pixel point in the correction reference image, wherein the offset correction strategy is used for indicating the correction degree of each pixel point when the thermal imaging camera performs offset correction on the shot thermal imaging image;
determining a new delay time according to the response rate recovery characteristic of the thermal imaging camera;
after the correction reference image is acquired, controlling the thermal imaging camera to open a blocking sheet;
before the barrier opening state is maintained for the new delay time, carrying out offset correction on the thermal imaging image shot by the thermal imaging camera according to the offset correction strategy;
and after the state of opening the blocking piece is maintained for the new delay time, returning to execute the step of controlling the thermal imaging camera to close the blocking piece so as to obtain a corrected reference image shot by the thermal imaging camera in the state of closing the blocking piece.
12. The apparatus according to claim 11, wherein the afterimage elimination module is specifically configured to determine a difference between gray values of pixels in a burned area in the calibration reference image and gray values of pixels in a non-burned area in the calibration reference image, the burned area being a set of pixels in the calibration reference image having gray values greater than the burned gray threshold;
and determining an offset correction strategy according to the difference value and a preset offset correction rule, wherein the offset correction rule is used for representing the corresponding relation between the difference value and the offset correction strategy.
13. An electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the method steps of any of claims 1-6 when executing a program stored in the memory.
14. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1 to 6.
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| CN113112495B (en) * | 2021-04-30 | 2024-02-23 | 浙江华感科技有限公司 | Abnormal image processing method and device, thermal imaging equipment and storage medium |
| CN113747055A (en) * | 2021-07-23 | 2021-12-03 | 南方电网深圳数字电网研究院有限公司 | Method, device and equipment for preventing detector from being burnt and storage medium |
| CN114112067B (en) * | 2021-12-08 | 2025-02-07 | 苏州睿新微系统技术有限公司 | Infrared detector protection method and device |
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